CN206756139U - A kind of device of three fulcrums leveling theodolite - Google Patents
A kind of device of three fulcrums leveling theodolite Download PDFInfo
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- CN206756139U CN206756139U CN201720543708.0U CN201720543708U CN206756139U CN 206756139 U CN206756139 U CN 206756139U CN 201720543708 U CN201720543708 U CN 201720543708U CN 206756139 U CN206756139 U CN 206756139U
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- support leg
- adjustment motor
- accurate adjustment
- theodolite
- leveling
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- 238000011161 development Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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Abstract
The leveling field of theodolite is the utility model is related to, spy is related to a kind of device of three fulcrums leveling theodolite.Support leg one of the present utility model, support leg two, support leg three are that equilateral triangle is set, three strong points are evenly distributed on three points of theodolite circumference, angle detector is arranged on theodolite platform, and angle detector is arranged on the midpoint for a line that accurate adjustment motor one, accurate adjustment motor two, accurate adjustment motor three form equilateral triangle.The advantages of the utility model has governing speed fast, and two axles are relatively independent during regulation, and then simplify the algorithm of leveling.
Description
Technical field
The leveling field of theodolite is the utility model is related to, spy is related to a kind of device of three fulcrums leveling theodolite.
Background technology
In current work production, the theodolite used is larger by terrain environment image, and leveling process is complicated, takes consumption
Power, and the training rear for needing to carry out operating personnel specialty can be used, and be unfavorable for the development of work production.
The utility model adds high-precision stepper motor by changing in pair warp and weft instrument mechanical structure, passes through control
The accurate control of system, reaches the automatic leveling of theodolite, and this process is influenceed smaller by terrain environment, and does not need operating personnel
Participate in, greatly improve operating efficiency and measurement accuracy.
Utility model content
In view of the shortcomings of the prior art, the utility model provides a kind of device of three fulcrums leveling theodolite.This reality
Set with new support leg one, support leg two, support leg three for equilateral triangle, three strong points are evenly distributed in theodolite circumference
On three points, angle detector is arranged on theodolite platform, and angle detector is arranged on accurate adjustment motor one, accurate adjustment motor
2nd, accurate adjustment motor three is formed on the midpoint of a line of equilateral triangle.The utility model has that governing speed is fast, adjusts process
In two axles it is relatively independent the advantages of, and then simplify the algorithm of leveling.
The technical solution of the utility model is：A kind of device of three fulcrums leveling theodolite, including support leg one, support leg
2nd, support leg three, theodolite platform, angle detector, support leg one, support leg two, initial adjustment motor one, initial adjustment are set respectively in support leg three
Motor two, initial adjustment motor three, theodolite platform underside are distinguished by accurate adjustment motor one, accurate adjustment motor two, accurate adjustment motor three respectively
It is connected with support leg one, support leg two, support leg three, it is characterised in that：Described support leg one, support leg two, support leg three set for equilateral triangle
Put, three strong points are evenly distributed on three points of theodolite circumference, and described angle detector is put down installed in theodolite
On platform, and angle detector is arranged on a line that accurate adjustment motor one, accurate adjustment motor two, accurate adjustment motor three form equilateral triangle
Midpoint on.
According to the device of three fulcrums leveling theodolite as described above, it is characterised in that：Described angle detector is
Double-shaft level sensor, one axle form one of equilateral triangle with accurate adjustment motor one, accurate adjustment motor two, accurate adjustment motor three
Side overlaps, and another axle is perpendicular to the side.
According to the device of three fulcrums leveling theodolite as described above, it is characterised in that：Described angle detector is 3
Axle gyroscope.
According to the device of three fulcrums leveling theodolite as described above, it is characterised in that：Also include control system, control
System is used for the signal of detection angles detector, and controls stepper motor to move respectively by step motor control module.
A kind of leveling method of three fulcrums leveling theodolite, using double-shaft level sensor, the X of double-shaft level sensor
Axle is vertical with Y-axis, and three fulcrums form an equilateral triangle, the straight line that two of which fulcrum is formed and one overlapping of axles, and
Another fulcrum is on the extended line of another axle, it is characterised in that：During regulation, individual fulcrum line is put down with one of axle
During row, when the axle tilts, it is only necessary to a fulcrum in two fulcrums is adjusted, until meeting precision；When another axle tilts
When, the 3rd fulcrum and the first two fulcrum can be adjusted respectively, and during the regulation of the first two fulcrum, the speed of two fulcrums is identical.
The beneficial effects of the utility model are：During one of axle leveling, the precision of another axle is not interfered with,
Equivalent to two axle independence leveling；Three strong points are evenly distributed on three points of theodolite circumference, make the center of gravity of platform
It is stable；Automatic leveling, reduce manual labor amount.
Brief description of the drawings
Fig. 1 is utility model works Principle of Process schematic diagram；
Fig. 2 is the top view of the utility model device；
Fig. 3 is the front view of the utility model device；
Fig. 4 is the schematic perspective view of the utility model device；
Fig. 5 is the scheme of installation of the utility model angle detector.
Description of reference numerals：Support leg 1, initial adjustment motor 1, accurate adjustment motor 1, support leg 22, initial adjustment motor 2 21,
Accurate adjustment motor 2 22, support leg 33, initial adjustment motor 3 31, accurate adjustment motor 3 32, theodolite platform 4, angle detector 5.
Embodiment
Name Resolution：Horizon sensor belongs to one kind of angular transducer, and it is exactly the levelness for measuring carrier that it, which is acted on, again
Obliquity sensor is, often level meter or inclinator are in engineering.Double-shaft level sensor can measure the water of both direction simultaneously
Straight angle degree, its general X-axis is vertical with Y-axis, therefore can make the levelness of whole tested surface.
The technical solution of the utility model is described further below in conjunction with accompanying drawing.
As shown in Figures 2 to 5, the device of three fulcrums leveling theodolite of the present utility model includes support leg 1, support leg two
2nd, support leg 33, theodolite platform 4, angle detector 5.The utility model is set respectively in support leg 1, support leg 22, support leg 33
Initial adjustment motor 1, initial adjustment motor 2 21, initial adjustment motor 3 31 are put, passes through initial adjustment motor 1, initial adjustment motor 2 21, initial adjustment electricity
Machine 3 31 can control support leg 1, support leg 22, the length of support leg 33 respectively, and the downside of theodolite platform 4 passes through accurate adjustment motor respectively
One 12, accurate adjustment motor 2 22, accurate adjustment motor 3 32 are connected with support leg 1, support leg 22, support leg 33 respectively, by controlling accurate adjustment
Motor 1, accurate adjustment motor 2 22, accurate adjustment motor 3 32 can stretch the up and down motion received and can drive theodolite platform 4.
Support leg 1, support leg 22, support leg 33 are set for equilateral triangle in the utility model, i.e., the line of every two support legs
All equal, the angle of adjacent two support legs is 60 °.So setting is advantageous in that, three strong points are evenly distributed in longitude and latitude
On three points of instrument circumference, make the steadily of centre of gravity of platform, while also allow for the installation of angle detector 5.
As shown in Figure 2 and Figure 5, angle detector 5 of the present utility model is arranged on theodolite platform 4, and angle detects
Device 5 is arranged on the midpoint that accurate adjustment motor 1, accurate adjustment motor 2 22, accurate adjustment motor 3 32 form a line of equilateral triangle
On.
Angle detector 5 of the present utility model can use 3 axle gyroscopes or double-shaft level sensor, such as use 3 axle tops
Spiral shell instrument, then X-axis, the angle of Y-axis are calculated respectively by calculating.Such as MPU-6000（6050）Incorporate 3 axle gyroscopes, 3 axles accelerate
Device, and contain the numerical digit of the accelerator that other labels can be connected by second I2C port, magnetometric sensor or other sensors
Motion process (DMP:Digital Motion Processor) hardware acceleration engine, by main I2C ports with single data flow
Form, export the motion process data bank that complete 9 axle merges calculation technology InvenSense to application end, motion can be handled
The complex data of sensing, load of the motion process computing to operating system is reduced, and framework is provided for application and development
API。
Angle detector 5 of the present utility model preferably selects double-shaft level sensor, one axle and accurate adjustment motor 1,
The a line that accurate adjustment motor 2 22, accurate adjustment motor 3 32 form equilateral triangle overlaps, and another axle is perpendicular to the side.Such as Fig. 5
Shown, the X-axis of double-shaft level sensor overlaps with the straight line that accurate adjustment motor 1, accurate adjustment motor 2 22 are formed, accurate adjustment electricity
Machine 3 32 is so easy to the implementation of leveling algorithm on the extended line of Y-axis, it is possible to achieve is not done mutually in X-axis Y-axis control process
Disturb, reduce the difficulty of control program, even if using regulation manually, because the regulation of one of axle does not interfere with another axle
Precision, it can also reduce the number of regulation.
The utility model also includes control system, and control system is used for the signal of detection angles detector 5, and passes through stepping
Motor control module controls stepper motor to move respectively, and control system can be single-chip microcomputer or other Industry Control chips.Its
The course of work is：When angle detector 5 detects the levelness of theodolite platform 4 in real time, deviation signal can be sent to control is
The information such as the speed of service of motor and step number are sent to stepper motor by system, control system by the calculating and processing to data
Terminal is controlled, leveling is realized by control terminal control motor.Three stepper motors effect of this device legs is to play coarse adjustment to put down,
When balance reaches to a certain degree, realize that accurate adjustment is put down using three small stepper motors on platform.
Stepper motor of the present utility model is the opened loop control member step that electric impulse signal is changed into angular displacement or displacement of the lines
Stepper motor part.In the case of non-overload, the rotating speed of motor, the position stopped being solely dependent upon frequency and the pulse of pulse signal
Number, without being influenceed by load change, when step actuator receives a pulse signal, it is with regard to Driving Stepping Motor by setting
Direction rotate a fixed angle, be referred to as " step angle ", its rotation is run step by step with fixed angle.Can
To control angular displacement by controlling pulse number, so as to reach the purpose being accurately positioned；Simultaneously can be by controlling pulse
Frequency carrys out the speed and acceleration of controlled motor rotation, so as to reach the purpose of speed governing.Stepper motor of the present utility model is best
Using linear stepping motor, electric energy is directly changed into linear motion mechanical energy by it, without any intermediate conversion mechanism
Transmission device.It can regard an electric rotating machine as by radially splitting, and transform into plane and form.
The invention also discloses a kind of leveling method of three fulcrums leveling theodolite, it uses double-shaft level to sense
Device, its X-axis is vertical with Y-axis, and three fulcrums form an equilateral triangle, the straight line that two of which fulcrum is formed and one axle weight
Close, and another fulcrum is on the extended line of another axle, such as X-axis and the line coincident of first, second fulcrum, and the second support
Point is positive direction, and the 3rd fulcrum is further described on the extended line of Y-axis and exemplified by positive direction to leveling process.
During leveling, as X-axis tilts, and X-axis is more than 1 degree, and Y-axis line leveling X-axis, then stretches the first fulcrum pair more than 1 degree
The initial adjustment motor 1 answered, the angle of such X-axis taper into, and are when precision reaches certain limit, in adjustment accurate adjustment motor one
12；Adjust Y-axis again when the precision of X-axis meets precision, stretch now while at the same speed initial adjustment motor 1, initial adjustment motor 2 21, make
Y-axis tapers into, when meeting precision, then while stretch accurate adjustment motor 1, accurate adjustment motor 2 22 at the same speed, when Y-axis reaches essence
When degree requires, stop leveling.
Above method can be summarized as, during regulation, when two fulcrum lines are parallel with one of axle, when the axle inclines
When oblique, it is only necessary to adjust a fulcrum in two fulcrums, until meeting precision, when another axle tilts, can adjust respectively
3rd fulcrum and the first two fulcrum, and during the regulation of the first two fulcrum, speed is consistent（I.e. the first two fulcrum is considered one
Point）.So, during making 3 leveling, without using special algorithm, it is only necessary to according to the deviation of angle, respectively by stretching
Leg or receipts leg can complete the leveling of system, and leveling precision is high, and leveling method is simply direct, i.e., when one of axle leveling
Cheng Zhong, the precision of another axle is not interfered with, equivalent to two axle independence leveling.
Claims (4)
1. a kind of device of three fulcrums leveling theodolite, including the inspection of support leg one, support leg two, support leg three, theodolite platform, angle
Device is surveyed, support leg one, support leg two, initial adjustment motor one, initial adjustment motor two, initial adjustment motor three are set respectively in support leg three, theodolite is put down
It is connected respectively with support leg one, support leg two, support leg three by accurate adjustment motor one, accurate adjustment motor two, accurate adjustment motor three respectively on the downside of platform,
It is characterized in that：Described support leg one, support leg two, support leg three are that equilateral triangle is set, three strong points be evenly distributed in through
On three points of latitude instrument circumference, described angle detector is arranged on theodolite platform, and angle detector is arranged on accurate adjustment
On the midpoint for a line that motor one, accurate adjustment motor two, accurate adjustment motor three form equilateral triangle.
2. the device of three fulcrums leveling theodolite according to claim 1, it is characterised in that：Described angle detector
For double-shaft level sensor, one axle forms the one of equilateral triangle with accurate adjustment motor one, accurate adjustment motor two, accurate adjustment motor three
Bar side overlaps, and another axle is perpendicular to the side.
3. the device of three fulcrums leveling theodolite according to claim 1, it is characterised in that：Described angle detector
For 3 axle gyroscopes.
4. the device of three fulcrum leveling theodolites according to claim 1,2 or 3 any one, it is characterised in that：Also wrap
Control system is included, control system is used for the signal of detection angles detector, and controls step respectively by step motor control module
Stepper motor is moved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720543708.0U CN206756139U (en) | 2017-05-17 | 2017-05-17 | A kind of device of three fulcrums leveling theodolite |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720543708.0U CN206756139U (en) | 2017-05-17 | 2017-05-17 | A kind of device of three fulcrums leveling theodolite |
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| Publication Number | Publication Date |
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| CN206756139U true CN206756139U (en) | 2017-12-15 |
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ID=60618443
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720543708.0U Active CN206756139U (en) | 2017-05-17 | 2017-05-17 | A kind of device of three fulcrums leveling theodolite |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108317351A (en) * | 2017-12-28 | 2018-07-24 | 中国兵器工业试验测试研究院 | A kind of electro-optic theodolite does not land fast leveling method |
| CN113389995A (en) * | 2021-06-11 | 2021-09-14 | 中国人民解放军陆军工程大学 | Platform leveling system and method |
-
2017
- 2017-05-17 CN CN201720543708.0U patent/CN206756139U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108317351A (en) * | 2017-12-28 | 2018-07-24 | 中国兵器工业试验测试研究院 | A kind of electro-optic theodolite does not land fast leveling method |
| CN113389995A (en) * | 2021-06-11 | 2021-09-14 | 中国人民解放军陆军工程大学 | Platform leveling system and method |
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